Contributed by the Design Engineering Division of ASME for publication in the Journal of Computational and Nonlinear Dynamics. Manuscript received June 12, 2013; final manuscript received December 11, 2013; published online March 6, 2014. Assoc. Editor: Arend L. Schwab.

Abstract

This study presents a 2D gait model that uses global parameterization within an optimal control approach and a hyper-volumetric foot contact model. The model is simulated for an entire gait stride, i.e., two full steps. Fourier series are utilized to represent muscle forces to provide a periodic gait with bilateral symmetry. The objectives of this study were to develop a predictive gait simulation and to validate the predictions. The comparison of simulation results of optimal muscle activations, joint angles, and ground reaction forces against experimental data showed a reasonable agreement.

The foot contact configuration with three volumetric contact sphere elements at the points H*, P*, and T*, which are the relaxed locations of the heel (H), metatarsal-phalangeal joint (P), and toe tip (T)

(left) Comparison of the simulated muscle activations (solid line) against the muscle EMGs (μ ± σ) from Ref. [1], except for the iliopsoas group where the simulated normalized force is compared against that of Ref. [40] (circles). (right) Simulated muscle activations (solid line) plotted against the muscle excitations (dashed line). The vertical axis bounds for the left side is the same as the right side.

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